Abstract
This paper describes a new type of hydraulic rotary actuator specifically developed to provide precision motion control in a very large, man rated, underwater telerobotic manipulator system. The high pressure, high torque rotary actuators are hydrostatically balanced, provide continuous rotation, constant torque output, exhibit minimal “stick-slip” and zero backlash. It is believed that the combination of features and the performance exhibited by these actuators represent an improvement in actuator technology to such an extent as to make projects previously determined unfeasible, now practical. Features of particular design value are a very large diameter through bore, and a truly modular design permitting use as an integral structural member. This paper will address design rationale, operating principles, key design features, product development highlights, an astronaut trainer case study, future development and potential applications.